Problems with Lichuan Ethercat servo drive

I don't seem to have that handy. I will be back to the machine in a week or 2. I will make a backup and upload my configuration. What issues are you having?

Just the usual issue with the Lichuans with the huge following error in CSP mode. I have a config working in CSV mode which I posted a while back. But it would be nice to get this working in CSP mode. From my understanding you got this in check by modifying the cia402.conf with Velocity Feed Forward 60B1h?

Sandro wrote:

This is my full configuration. Please note this is for a hobby machine and I cannot take responsibility for any present or not present safety features. Use at your own risk.

Slave 0 is the Cat IO board which can be found on Aliexpress.
Slave 1 is a DVS 1.8 kW servo motor with 23 bit absolute encoder, which I am using as spindle. I have set the encoder to 17 bit incremental at the moment. The same XML configuration as for the Lichuan servos works for this one as well.
Slaves 2-4 are the Lichuan servos for my three axes.

I was having issues using the Lichuans in csp mode, due to quite a substantial following error. For this reason I have set them to csv mode. This way I was able to do some PID tuning and clamping down the error to a few microns. I was also playing arround with the parameters on the servo drives directly to improve on the following error further. Most parameters did not do a lot in my case. However, P08.15 "Load inertia ratio" helped a lot. For the axes X and Y I have currently set it to about 12 and for Z-axis to about 7.


 

Are you seeing a difference between the target position (607A) and the actual position (6064) that is persistent? IE you can force the motor out of position a bit, and it returns to the same incorrect position?  This is different from following error, where the motor does not get to the position. With following error, if you force it, it will get to position and stay. OR if you force it past the target it will end with a following error from the opposite direction. 

So here is my setup directory. It has been 6 months since I've looked at this, also I'm not too proud, I just got it working. 
It is for a gantry. Includes homing and compensates for the buildup of following error I see on all the axes.
The integration loop bit is at the bottom of cia402.comp.  It's more like a slow drift than hard integration. But it does the job of eliminating the buildup of position error.

Also make sure you are sending the target velocity 60B1 and adjust the velocity gains. I ran the machine back and forth and watched following error as I adjusted the various velocity gains. They matter.

 


 

LinuxCNC must have timed out I'll attach again hopefully.

 

Hi trisa, "Turns out if you try reading an ethercat adress that the drive doesn`t have, nothing works."
Is it mandatory to change those error sdo/pdo errors:
0x1703:01, 0x1B03 ?